std_msgs/Header header
uint32 pose_id
uint32 time_stamp_ms
uint8 flag
geometry_msgs/Vector3 p_wi
geometry_msgs/Vector3 v_wi
geometry_msgs/Quaternion q_wi
geometry_msgs/Quaternion[6] q_ic
geometry_msgs/Vector3[6] p_ic
float32 vps_from_vio
